US20160179992A1 - Interactive 3D Experiences on the Basis of Data - Google Patents

Interactive 3D Experiences on the Basis of Data Download PDF

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US20160179992A1
US20160179992A1 US14/574,843 US201414574843A US2016179992A1 US 20160179992 A1 US20160179992 A1 US 20160179992A1 US 201414574843 A US201414574843 A US 201414574843A US 2016179992 A1 US2016179992 A1 US 2016179992A1
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model
surrogate
state vector
dataset
time
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Alexander Jacobus Maria Van der Velden
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Dassault Systemes Americas Corp
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Dassault Systemes Simulia Corp
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Priority to US14/574,843 priority Critical patent/US20160179992A1/en
Assigned to DASSAULT SYSTEMES SIMULIA CORP. reassignment DASSAULT SYSTEMES SIMULIA CORP. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: VAN DER VELDEN, ALEXANDER JACOBUS MARIA
Priority to CA2914801A priority patent/CA2914801A1/en
Priority to JP2015245380A priority patent/JP7133894B2/ja
Priority to KR1020150181245A priority patent/KR20160074427A/ko
Priority to CN201510953733.1A priority patent/CN105843978B/zh
Priority to EP15201084.9A priority patent/EP3035219A1/en
Publication of US20160179992A1 publication Critical patent/US20160179992A1/en
Priority to JP2021018447A priority patent/JP2021073623A/ja
Assigned to DASSAULT SYSTEMES AMERICAS CORP. reassignment DASSAULT SYSTEMES AMERICAS CORP. MERGER (SEE DOCUMENT FOR DETAILS). Assignors: DASSAULT SYSTEMES SIMULIA CORP.
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G06F17/5009—
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/30—Circuit design
    • G06F30/36—Circuit design at the analogue level
    • G06F30/367—Design verification, e.g. using simulation, simulation program with integrated circuit emphasis [SPICE], direct methods or relaxation methods
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/15—Vehicle, aircraft or watercraft design
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2111/00—Details relating to CAD techniques
    • G06F2111/18—Details relating to CAD techniques using virtual or augmented reality

Definitions

  • the invention generally relates to the field of computer programs and systems and specifically to the field of product design and simulation. Embodiments of the invention may also be employed in video games, engineering system design, collaborative decision making, and entertainment, e.g., movies.
  • CAD computer aided design
  • CAE computer aided engineering
  • CAD systems manage parts or assemblies of parts of modeled objects, which are mainly specifications of geometry.
  • CAD files contain specifications, from which geometry is generated. From geometry, a representation is generated. Specifications, geometry, and representations may be stored in a single CAD file or multiple CAD files.
  • CAD systems include graphic tools for representing the modeled objects to designers; these tools are dedicated to the display of complex objects. For example, an assembly may contain thousands of parts.
  • a CAD system can be used to manage models of objects, which are stored in electronic files.
  • FEM finite element analysis
  • FEM finite element model
  • mesh finite element mesh
  • a FEM typically represents a CAD model, and thus, may represent one or more parts or an entire assembly.
  • a FEM is a system of points called nodes which are interconnected to make a grid, referred to as a mesh.
  • the FEM may be programmed in such a way that the FEM has the properties of the underlying object or objects that it represents.
  • a FEM or other such object representation as is known in the art is programmed in such a way, it may be used to perform simulations of the object that it represents.
  • a FEM may be used to represent the interior cavity of a vehicle, the acoustic fluid surrounding a structure, and any number of real-world objects.
  • CAD and CAE systems along with FEMs can be utilized to simulate engineering systems.
  • CAE systems can be employed to simulate noise and vibration of vehicles.
  • One dimensional data is very abstract and abstract information is not an efficient means to add to the experience of the audience.
  • Such methods are based on reducing the state space of the simulation.
  • the complete 3D computational (i.e., meshed) model is known a priori, but the complexity and solve time of the model is reduced while maintaining a good fit to a known behavior model.
  • This is typically done through reduction of the degrees of freedom (e.g., from millions of mesh nodes to tens of parameters) through techniques such as Principle Component Analysis, which is described in Jolliffe I. T. Principal Component Analysis, Series: Springer Series in Statistics, 2nd ed., Springer, N.Y.
  • equation (31) of Klein is:
  • C L ⁇ C Lq C L ⁇ dot over (q) ⁇ and k would be calibrated or fitted to the equation based on experimental data for t, C L , q, ⁇ , ⁇ dot over (q) ⁇ .
  • Embodiments of the present invention overcome the problems with existing experiment/simulation techniques as described hereinabove.
  • Embodiments of the present invention provide methods and systems for constructing a surrogate model for use in an interactive experience.
  • a method for generating a surrogate model for use in an interactive experience begins by defining a model that represents a real-world system, where the model includes a parametric state vector representing a behavior and a design variable vector.
  • Such a method further includes performing a first experiment (simulation, analysis, etc.) to determine a response over time of the parametric state vector and performing a second experiment for the design variable vector.
  • the first and second experiments produce a dataset of the parametric state vector and the design variable vector as a function of time.
  • the method continues by modifying the data set with one or more derivatives of the parametric state vector and then constructs a set of surrogate differential equations which approximate a higher derivative of the parametric state vector relative to that in the data set.
  • the constructing includes operatively storing the set of surrogate differential equations as a surrogate model in memory.
  • Such a method is used in an interactive experience by responsively providing the surrogate model from memory in a matter accelerating simulated behavior in response to user interaction with the model. This may be implemented by solving the surrogate differential equations for a given value of the design variable vector including using a time series that solves a state vector of the surrogate model as a function of time.
  • constructing the set of surrogate differential equations comprises iteratively constructing one or more candidate sets of surrogate differential equations, and selecting the set of surrogate differential equations from the one or more candidate sets to be stored as the surrogate model, where the selected set is the set with the lowest cross validation error to at least a subset of the data set.
  • the subset of the data set may be referred to herein as a validation data set.
  • modifying the data set with the one or more derivatives of the parametric state vector includes removing time from the data set.
  • the first and second experiments are at least one of a physical experiment and a numerical high fidelity experiment.
  • Another embodiment may further comprise reducing the dimensionality of the defined model. In such an embodiment, reducing the dimensionality of the defined model employs at least one of principal component analysis, k-nearest neighbors, and subspace learning.
  • the defined model includes at least one of discrete events and boundary conditions.
  • An implementation of the method may further comprise exporting the surrogate model to a functional mock-up interface.
  • an embodiment may employ the surrogate model in a hardware system wherein the hardware system is a flight simulator or automotive electronic control unit.
  • the higher derivative of the parametric state vector may be approximated by using at least one of: radial basis functions, neural nets, chebychev polynomials, response surface methods, polynomial response surface methods, arbitrary term regression, support vector machines, and space-mapping.
  • constructing the surrogate model further includes optimizing the surrogate model to reduce variance and bias error.
  • An alternative embodiment of the invention is directed to a system for generating a surrogate model for use in an interactive experience.
  • a system comprises a model definition module configured to define a model which represents a real-world system, wherein the defined model includes a parametric state vector representing a behavior and a design variable vector.
  • the system further includes an experiment module which is operatively coupled to the model definition module and is configured to perform a first experiment to determine a response over time of the parametric state vector and a second experiment for the design variable vector. The experiments produce a data set of the parametric state vector and the design variable vector as a function of time.
  • the system further includes a data set module configured to receive the data set from the experiment module and to modify the data set with one or more derivatives of the parametric state vector.
  • a surrogate module is further included in the system and the surrogate module is configured to construct a set of surrogate differential equations which approximate a higher derivative of the parametric state vector relative to that in the data set.
  • the surrogate module may operatively store the set of surrogate differential equations as a surrogate model in memory.
  • the system further includes an interaction module configured to responsively provide the surrogate model from memory in a manner which accelerates simulated behavior of the model in response to user interaction. Said providing the surrogate model solves the surrogate differential equations for a given value of the design variable vector including using a time series that solves the state vector of the surrogate model as a function of time.
  • the surrogate module is configured to construct the set of surrogate differential equations by iteratively constructing one or more candidate sets of surrogate differential equations.
  • the set of surrogate differential equations stored as the surrogate model is selected from the one or more candidate sets as the set with the lowest cross validation error to at least a subset of the data set.
  • the data set module is configured to modify the data set with the one or more derivatives of the parametric state vector.
  • the first and second experiments are at least one of a physical experiment and a numerical high fidelity experiment.
  • the defined model includes at least one of discrete events and boundary conditions.
  • the model definition module is further configured to reduce the dimensionality of the defined model.
  • the model definition module may be configured to reduce the dimensionality of the defined model by employing at least one of principal component analysis, k-nearest neighbors, and subspace learning.
  • An alternative embodiment of the system further comprises an export module configured to export the surrogate model to a functional mockup interface.
  • the system is integrated into a flight simulator or automotive electronic control unit.
  • the surrogate module may be configured to approximate the higher derivative of the parametric state vector using at least one of: radial basis functions, neural nets, chebychev polynomials, response surface methods, polynomial response surface methods, arbitrary term aggression, support vector machines, and space-mapping.
  • Another embodiment of the present invention is directed to a cloud computing implementation for generating a surrogate model.
  • Such an embodiment is directed to a computer program product executed by a server in communication across a network with one or more clients, the computer program product comprising a computer readable medium.
  • the computer readable medium comprises program instructions which, when executed by a processor causes: defining a model representing a real-world system, wherein the model includes a parametric state vector representing a behavior and a design variable vector; performing a first experiment to determine a response over time of the parametric state vector and performing a second experiment for the design variable vector, wherein performing first and second experiments produces a data set of the parametric state vector and the design variable vector as a function of time; modifying the data set with one or more derivatives of the parametric state vector; constructing a set of surrogate differential equations approximating a higher derivative of the parametric state vector relative to that in the data set, wherein constructing the set of equations includes operatively storing in memory the set of surrogate differential equations as a surrogate model; and responsively providing the surrogate model from memory in a manner accelerating simulated behavior in response to user interaction with the model, wherein providing the surrogate model includes solving the surrogate differential equations for a given value of the design variable
  • FIG. 1 is a flowchart of a method for constructing a surrogate model for use in an interactive 3D experience according to an embodiment of the present invention.
  • FIG. 2 illustrates various components used in an N-code simulation of airfoil flutter implementing principles of the present invention.
  • FIG. 3 illustrates the CFD flow field for a flap during control system actuation that is determined utilizing principles of an embodiment.
  • FIG. 4 portrays a CAD model of an aircraft and associated graphs illustrating angle of attack and control servo angle that may be employed in an embodiment of the present invention.
  • FIG. 5 is a graph of airfoil pitch simulated as a function of time.
  • FIG. 6 illustrates validation of a linear surrogate model representing 2 nd order ordinary differential equations determined according to an example embodiment.
  • FIG. 7 illustrates validation of a linear surrogate model representing nonlinear 2 nd order ordinary differential equations determined according to an example embodiment.
  • FIG. 8 is a flow chart depicting a method of generating a surrogate model according to the principles of an embodiment.
  • FIG. 9 illustrates airfoil pitch and airfoil vertical displacement determined according to the principles of an embodiment approximated with a 4 th order RSM with controller off and RBF with controller on at 4.8 seconds and 33 Hz.
  • FIG. 10 is a graph illustrating time series from Airfoil Flutter N-code simulation approximated with a 4 th order RSM with controller off and RBF with controller on at 3.1 seconds and 42 Hz.
  • FIG. 11 a is a flowchart of a method for generating a surrogate model according to principles of the present invention.
  • FIG. 11 b is a continuation of the method for generating a surrogate model illustrated in FIG. 11 a.
  • FIG. 12 is a flowchart depicting a method for employing principles of the present invention in a simulation.
  • FIG. 13 is a simplified block diagram of a system for generating a surrogate model for a 3D experience according to principles of an embodiment.
  • FIG. 14 is a simplified diagram of a computer network environment in which an embodiment of the present invention may be implemented.
  • Embodiments of the present invention overcome the aforementioned limitations of simulations/interactive three-dimensional experiences.
  • One such embodiment of the invention is directed to a method to create a near real-time experience by accelerating realistic behavior simulation models using mathematical surrogates. These surrogate models are based on physical test data or high-fidelity simulation data.
  • High-fidelity N-code (FEA, Computational Fluid Dynamics (CFD), or logical) co-simulations can take as much as an hour of CPU time for each real-time second of behavior prediction.
  • Embodiments of the invention speed up this process by orders of magnitude so that it is fast enough to be used in real-time or near real-time applications. This makes it a practical technology for interactive design, multi-disciplinary optimization, and verification of cyber-physical systems.
  • An embodiment accelerates realistic behavior modeling by first executing a physical or numerical high-fidelity experiment on a physical or numerical model and observing the response over time of the parametric state vector p (e.g., time, p) that represents the behavior of interest.
  • This model can contain discrete events (e.g., controller on/off) as well as forced boundary conditions such as road excitations.
  • an embodiment may first reduce the dimensionality of the high-fidelity, high-dimensional numerical model using principal component analysis, or a similar technique, to a manageable number of parameters (e.g., approximately 100).
  • a structured e.g., design of experiment
  • p model design variable vector of interest
  • the right predictive surrogate is selected and its technique settings are optimized to reduce its variance and bias error and validated with the part of the dataset that is not used in the training Thus, forming the surrogate model.
  • This model can in turn be exported to an FMU and be directly employed in 3D modeling software to simulate realistic behavior in near real-time. Alternatively, it can be used directly in hardware, such as a flight simulator or an automotive electronic control unit (ECU).
  • ECU automotive electronic control unit
  • FIG. 1 is a flow diagram of a method 100 for generating a surrogate model for use in an interactive experience.
  • the method 100 begins by defining a model representing a real-world system ( 101 ).
  • the defined model includes a parametric state vector which represents a behavior and a design variable vector.
  • the parametric state vector may include the position and angles of rotation (and their derivatives) of an object and the design variable vector may comprise the mass and the force (and its direction) on an object.
  • the model that is defined at step 101 may represent any real-world system, examples of which are described herein below.
  • the model may be defined according to principles known in the art, for example through use of a CAD system.
  • the method 100 continues by performing a first experiment to determine a response over time of the parametric state vector and a second experiment for the design variable vector ( 102 ).
  • An example experiment includes recording time series of parameteric state for various masses, forces, and force directions.
  • the performance 102 produces a data set of the parametric state vector and the design variable vector as a function of time.
  • the method 100 next modifies the data set with one or more derivatives of the parametric state vector ( 103 ).
  • step 103 includes determining the one or more derivatives of the parametric state vector computed directly from the time step and the state vector value at the time step using a finite difference method.
  • constructing the set of surrogate differential equations 104 comprises operatively storing the set of surrogate differential equations as a surrogate model in memory.
  • the method 100 concludes by responsively providing the surrogate model from memory in a manner accelerating simulated behavior in response to user interaction with the model ( 105 ).
  • the surrogate differential equations are solved for a given value of the design variable vector including using a time series that solves the state vector of the surrogate model as a function of time. This providing of the surrogate model 105 thus provides an improved user experience.
  • constructing the set of surrogate differential equations 104 may be performed by iteratively constructing one or more candidate sets of surrogate differential equations and in turn, selecting the set of surrogate differential equations stored as the surrogate model as the set from the one or more candidate sets with the lowest cross validation error to at least a subset of the data set.
  • This subset of the data set that is used in performing the equation constructing may be considered a validation data set.
  • modifying the data set 103 may include removing time from the data set.
  • the first and second experiments performed at step 102 of the method 100 are a physical experiment and/or a numerical high fidelity experiment.
  • the defined model further includes discrete events and boundary conditions.
  • the method 100 may further comprise reducing the dimensionality of the defined model. According to such an embodiment, the dimensionality may be reduced according to principles known in the art, for example, by employing principal component analysis, k-nearest neighbors, and/or subspace learning.
  • the method 100 may also include exporting the surrogate model to a functional mockup interface.
  • the method 100 is employed in a hardware system, such as a flight simulator or automotive electronic control unit.
  • the higher derivative of the parametric state vector is determined at step 104 using at least one of: radial basis functions, neural nets, chebychev polynomials, response surface methods, polynomial response surface methods, arbitrary term regression, support vector machines, and space-mapping.
  • constructing the surrogate model at step 104 further includes optimizing the surrogate model to reduce variance and bias error.
  • FIG. 2 illustrates an overview of a method 210 for creating individual response time series data on which an interactive experience, carried out according to the principles of the present invention, can be based.
  • the example described below and illustrated in FIG. 2 employees datasets of a 4-code CFD-FEA-logical-embedded source co-simulation as described in Van der Velden et al., “Probabilistic Certificate of Correctness for Cyber Physical Systems,” ASME 2012 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, August 12-15, Chicago, Ill., USA, DETC2012-70135, the contents of which are incorporated herein by reference.
  • These datasets include an ordinary differential equation/one dimensional dataset 213 a and a partial differential equation/3D dataset 213 b , both of which result from model abstractions 211 , and a continuous time dataset 214 a and a discrete time dataset 214 b , both of which result from models of computation 212 .
  • the datasets 213 a , 213 b , 214 a , and 214 b are processed by domain simulation software 215 that, by way of non-limiting example, may include Dymola 216 a , Abaqus/CFD 216 b , Abaqus/Standard 216 c , and ControlBuild 216 d .
  • These data sets 213 a , 213 b , 214 a , and 214 b can be converted into a model that can be interactively solved according to principles described herein.
  • the overview illustrated in FIG. 2 may provide a user with the data of the CFD flow-field 320 , shown by the shading, for the finite element model 321 illustrated in FIG. 3 .
  • the flow-field may be determined by employing Navier-Stokes for the partially separated flap during control system actuation.
  • FIG. 4 illustrates a glider 431 , with the wing 430 .
  • the wing 430 exhibits a twisting and vertically displacing limit cycle motion called flutter.
  • an active flutter control system which moves the trailing edge flap of the wing 430 is deployed.
  • This system consists of sensors, embedded software, and electrical motors to actuate the flap mechanism.
  • the example method described herein provides an interactive experience that models flutter of the wing 430 .
  • high aspect ratio data is provided for the state of the wing 430 , such as the control servo angle 432 , which indicates control software activation 433 , and angle of attack 434 .
  • Other data may include vertical displacement.
  • FIG. 5 is a graph 540 that illustrates airfoil pitch a as a function of time.
  • the graph 540 includes data 541 representative of airfoil pitch as simulated as a function of time by the high-fidelity co-simulation for the free limit cycle motion (without flutter suppression activation).
  • the full co-simulation data 541 represents data determined using existing batch processing methodologies, that while providing good accuracy, can be extremely time consuming and computationally expensive to produce. Thus, embodiments of the invention calculate surrogates that approximate the full co-simulation data 541 .
  • an embodiment proceeds to differentiate the dataset using a backwards numerical step to yield a set of data of the state parameters and their time derivatives (t, ⁇ , ⁇ dot over ( ⁇ ) ⁇ , ⁇ umlaut over ( ⁇ ) ⁇ , z, ⁇ , ⁇ umlaut over (z) ⁇ ).
  • time is removed as a parameter and a system of equations is created based on surrogates F to express the higher derivatives of a and z as a function of the state vector ( ⁇ , z) and its lower derivatives using part of the co-simulation data. The remaining data is reserved for validating the surrogates.
  • the resulting system of equations is provided below:
  • F 1 and F 2 may be expressed as a linear regression surrogate model to obtain a 2 nd order linear ordinary differential equation representing the well-known spring damper model. It is noted, that this spring damper model is derived without prior knowledge that this is an adequate model form for wing flutter. Thus, embodiments of the invention do not require prior knowledge of an adequate model for representing the system.
  • An example of the 2 nd order linear ordinary differential equation derived using the data for this example is provided below:
  • the resulting 1 st order surrogate model representing a 2 nd order differential equation is shown by the dashed line 542 of FIG. 5 .
  • the 2 nd order model has similar frequency to the full co-simulation data 541 , but the amplitude is quite different.
  • the graph 540 further includes data 542 representative of the airfoil flutter N-code simulation approximated with a 1 st order surrogate, and data representative of the 4 th order surrogate 543 .
  • Embodiments of the invention can further determine the source of such error by validating the model with the above mentioned set aside data.
  • Such evaluation indicates that there is a large error between the actual a data and the one predicted by the 2 nd order ODE constructed from the linear surrogate.
  • This error is shown in FIG. 6 , where graph 650 shows the data, where the line 652 represents a perfect validation of the model, and the data points 653 show the actual data that was set aside. From this validation it is known a-priori that the linear surrogate is not a good approximation to limit cycle co-simulation. This may be due to the non-linearity of the airfoil flow separation at high angles.
  • an embodiment may switch the surrogate model from a 2 nd order model to a 4 th order model and repeat the validation using the 4 th order model.
  • the result of this validation is shown in FIG. 7 , where the ⁇ umlaut over ( ⁇ ) ⁇ data and ⁇ umlaut over (z) ⁇ data are shown by the graphs 760 and 761 , respectively.
  • the graphs 760 and 761 both show that the predicted data 762 and 764 aligns quite well with the corresponding data points 763 and 765 .
  • the results of this 4 th order model are shown in FIG. 5 by the dotted points 543 , which align with the original co-simulation behavior results 541 , and extrapolates well.
  • the method 870 comprises a loop 871 that iterates through a sequence of values of the selected parameter, in this case, until the controller-on time 874 , which is a component of the task process 872 .
  • the task process 872 identifies whether the time is less than the controller-off time 873 , indicating that the controller is off, or greater than the control-on time 874 , indicating that the controller is on.
  • the 4 th order surrogate described above is used to calculate ⁇ and z, at the process 875 .
  • the interactive model 876 of the system of equations comprising F 1 and F 2 described hereinabove can be employed in the system 870 to compute ⁇ umlaut over ( ⁇ ) ⁇ and ⁇ umlaut over (z) ⁇ using different inputs to the system of equations.
  • Embodiments of the invention can further introduce the effect of design variables.
  • the 4 th order RMS method does not work.
  • the Radial Basis Function surrogate method such as described in Hardy, “ Multiquadratic equations of topography and other irregular surfaces ”, J. Geophysics Res. 76, 1905-15 (1971).
  • FIG. 9 The results of this modified surrogate model are shown in FIG. 9 , where the graph 980 shows a versus time and the graph 981 shows z versus time.
  • the more lightly shaded lines, 982 and 984 illustrate the full co-simulation results and the darker lines 983 and 985 show a and z approximated with a 4 th order RSM with the controller off and with RBF 986 , with the controller on at 4.8 seconds and 33 Hz.
  • FIG. 10 shows a validation of the system principles with said different data, 4 th order RSM with controller off and RBF with controller on at 3.1 seconds and 42 Hz.
  • the graph 1090 shows the response of a versus time under the aforementioned conditions.
  • the portion 1091 of the graph is further enlarged in FIG. 10 to show the further detail of the response when the controller is turned on 1092 and the RBF simulation technique is employed 1094 .
  • the graph 1090 indicates that the surrogate data 1095 closely follows the full co-simulation data 1093 .
  • Such an embodiment provides an accurate real time (surrogate) model to employ in real time interactive experiments.
  • the surrogate model could be used to determine whether there are bandwidths or activation times/conditions where the system becomes unstable.
  • the surrogate model is further enhanced by adding time-dependent boundary conditions such as variations in angle of attack due to atmospheric conditions in the simulation loop.
  • embodiments of the present invention do not require knowledge of the physics differential equations that simulate the system. It is only necessary that the dataset includes the state/design vectors that are relevant. If such relevant vectors are not included, the method will produce a high cross-validation error, thus signaling that the model is lacking relevant vector data. Such a method is advantageous over existing techniques such as Kalman filtering and parameter estimation which both require that the model form (equations of the vectors) have to be defined a priori.
  • the model form is constructed and identified through an iterative method as the surrogate differential equation model with the lowest cross-validation error to the validation data set. Such a method is described herein below in relation to the FIGS. 11 a and 11 b.
  • FIGS. 11 a and 11 b illustrate a method 1100 (split between 1100 a in FIG. 11 a and 1100 b in FIG. 11 b ) for constructing a surrogate model according to an embodiment of the present invention.
  • the method 1100 starts the authoring 1101 and defines system design variables v i , system internal states p i , system states of interest q i , and system boundary conditions b i at 3D system sensor locations, in a memory area ( 1102 ).
  • data rows row i are randomly assigned into a training data set and a validation data set ( 1106 ).
  • i is iterated according to the test 1109 described below.
  • each function F is created using surrogate technology ( 1108 ), it is tested 1109 , to determine if q i , q′ i , q′′ i of the predicted data minus the validation set from step 1103 is greater than ⁇ , where ⁇ is the model validation error, e.g. the difference between the line 652 representing a perfect validation of the model, and the actual data points 653 . If q i , q′ i , q′′ i (predicted ⁇ validation set) is greater than ⁇ , the method 1100 ends 1111 . However, if q i , q′ i , q′′ i (predicted ⁇ validation set) is less than ⁇ , i is incremented 1110 , and the method returns to process 1107 to continue.
  • ⁇ is the model validation error, e.g. the difference between the line 652 representing a perfect validation of the model, and the actual data points 653 .
  • FIG. 12 illustrates a method 1220 for employing the method 1100 , or any method described herein, in an interactive experience.
  • the process 1222 continues by storing the solution time series in a memory area (time, v k , t, p i , q i , b n ) for post-processing.
  • the method 1220 further accommodates the introduction of new event values, b n , such as user, controller, or context values at point 1224 of the process.
  • p i , q i , and b n are used to update the state of the digital mock-up or hardware simulator at time t, in order to create a real-time experience for the user ( 1227 ).
  • FIG. 13 is a simplified block diagram of a computer-based system 1330 that may be used to generate a surrogate model according to an embodiment of the present invention.
  • the system 1330 comprises a bus 1335 .
  • the bus 1335 serves as an interconnect between the various components of the system 1330 .
  • Connected to the bus 1335 is an input/output device interface 1338 for connecting various input and output devices such as a keyboard, mouse, display, speakers, etc. to the system 1330 .
  • a central processing unit (CPU) 1332 is connected to the bus 1335 and provides for the execution of computer instructions.
  • Memory 1337 provides volatile storage for data used for carrying out computer instructions.
  • Storage 1336 provides non-volatile storage for software instructions, such as an operating system (not shown).
  • the system 1330 also comprises a network interface 1331 for connecting to any variety of networks known in the art, including wide area networks (WANs) and local area networks (LANs).
  • WANs wide area networks
  • LANs local area networks
  • a model definition module 1333 module is further connected to the bus 1335 .
  • the model definition module 1333 is configured to define a model representing a real-world system, the model that is defined includes a parametric state vector representing a behavior and a design variable vector.
  • An experiment module 1334 is operatively coupled via the bus 1335 to the model definition module 1333 and is configured to perform a first experiment to determine a response over time of the parametric state vector and a second experiment for the design variable vector.
  • the first and second experiments produce a data set of the parametric state vector and the design variable vector as a function of time.
  • the system 1330 further includes a data set module 1341 that is configured to receive the data set from the experiment module 1334 and to modify the data sent with one or more derivatives of the parametric state vector.
  • a surrogate module 1339 Connected to the bus 1335 is a surrogate module 1339 which is configured to construct a set of surrogate differential equations which approximate a higher derivative of the parametric state vector relative to that in the data set that was determined by the data set module 1341 .
  • This constructing by the surrogate module 1339 includes operatively storing, in the memory 1337 or the storage device 1336 , the set of surrogate differential equations as a surrogate model.
  • an interaction module 1340 Operatively coupled to the system 1330 is an interaction module 1340 which is configured to responsively provide the surrogate model from memory 1337 or storage 1336 in a manner accelerating simulated behavior in response to user interaction with the model.
  • This providing the surrogate model solves the surrogate differential equations for a given value of the design variable vector including using a time series that solves the state vector of the surrogate model as a function of time.
  • the accelerated simulated behavior may be considered accelerated in comparison to normal simulation techniques. Moreover, the accelerated simulated behavior may be accelerated or decelerated in comparison to real world events, e.g., the simulation may show the effect of wing flutter at a rate faster than such flutter would occur in the real world.
  • the various methods and machines described herein may each be implemented by a physical, virtual, or hybrid general purpose computer, such as the computer system 1330 , or a computer network environment such as the computer environment 1400 , described herein below in relation to FIG. 14 .
  • the computer system 1330 may be transformed into the machines that execute the methods described herein, for example, by loading software instructions into either memory 1337 or non-volatile storage 1336 for execution by the CPU 1332 .
  • model definition module 1333 the model definition module 1333 , experiment module 1334 , dataset module 1341 , surrogate module 1339 , and interaction module 1340 are shown as separate modules, in an example embodiment, these modules may be implemented using a variety of configurations.
  • system 1330 and its various components may be configured to carry out any embodiments of the present invention described herein.
  • FIG. 14 illustrates a computer network environment 1400 in which an embodiment of the present invention may be implemented.
  • the server 1401 is linked through the communications network 1402 to the clients 1403 a - n .
  • the environment 1400 may be used to allow the clients 1403 a - n , alone or in combination with the server 1401 , to execute any of the methods described hereinabove.
  • Embodiments or aspects thereof may be implemented in the form of hardware, firmware, or software. If implemented in software, the software may be stored on any non-transient computer readable medium that is configured to enable a processor to load the software or subsets of instructions thereof. The processor then executes the instructions and is configured to operate or cause an apparatus to operate in a manner as described herein.
  • firmware, software, routines, or instructions may be described herein as performing certain actions and/or functions of the data processors. However, it should be appreciated that such descriptions contained herein are merely for convenience and that such actions in fact result from computing devices, processors, controllers, or other devices executing the firmware, software, routines, instructions, etc.

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CN201510953733.1A CN105843978B (zh) 2014-12-18 2015-12-17 基于数据的交互式3d体验
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